version: 66.03
glider: 128
mission: 2
dive: 636
start: 9 30 107 21 47 29
data:
$ID,128
$MISSION,2
$DIVE,636
$D_SURF,2
$D_FLARE,3
$D_TGT,120
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,67
$T_MISSION,80
$T_ABORT,1440
$T_TURN,270
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51503
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,48.133301
$TGT_DEFAULT_LON,-122.4
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-74202.156
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,25
$PITCH_MAX,4070
$C_PITCH,2740
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$PITCH_GAIN,18
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,145
$ROLL_MAX,4014
$ROLL_DEG,40
$C_ROLL_DIVE,2350
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,57
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,204
$VBD_MAX,3580
$C_VBD,2400
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,1
$AH0_24V,150
$AH0_10V,100
$PRESSURE_YINT,-10.508845
$PRESSURE_SLOPE,0.0001162386
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,25
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043805656
$SEABIRD_T_H,0.00064742006
$SEABIRD_T_I,2.5554549e-05
$SEABIRD_T_J,2.6681391e-06
$SEABIRD_C_G,-10.331019
$SEABIRD_C_H,1.1763502
$SEABIRD_C_I,-0.0012340198
$SEABIRD_C_J,0.00017379176
$GPS1,214007,4807.238,-12222.815,29,1.0,34,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-57.5
$GPS2,214633,4807.259,-12222.852,12,1.1,12,18.3
$SPEED_LIMITS,0.060,0.217
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.199,0.086
$KALMAN_X,-31830.7,-109.5,188.3,32620.5,-130.1
$KALMAN_Y,-12573.1,-56.0,-335.3,12214.6,513.8
$MHEAD_RNG_PITCHd_Wd,275.0,1975,-11.0,-5.970
$D_GRID,107
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,29,-0.79,-146.6,0.0,0.0,0,122,0.00,0.00,-91.18,0.000,2,0.000,0.000,20,2347,2406
$GC,127,-0.79,-146.6,3.0,-1.3,17,163,9.70,2.38,-16.88,0.000,4,0.199,0.061,2469,3746,3001
$GC,468,-0.79,-146.6,40.4,-9.2,60,472,0.00,2.20,0.00,0.000,6,0.000,0.025,2469,2325,3003
$GC,672,-0.79,-146.6,57.6,-8.6,79,676,0.00,2.40,0.00,0.000,4,0.000,0.048,2460,3755,3003
$GC,922,-0.79,-146.6,80.3,-9.3,100,928,0.00,2.17,0.00,0.000,6,0.000,0.026,2460,2338,3003
$STATE,1237,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1237,begin apogee
$GC,1246,-0.28,0.0,107.9,9.4,130,1363,0.57,0.00,112.12,0.755,6,0.110,0.000,2642,2201,2400
$STATE,1364,end apogee,CONTROL_FINISHED_OK
$STATE,1364,begin climb
$GC,1368,0.79,146.6,112.6,0.0,142,1485,1.08,0.00,111.32,0.695,6,0.082,0.000,2990,2200,1802
$GC,1804,0.79,146.6,84.4,7.7,184,1808,0.00,2.35,0.00,0.000,4,0.000,0.046,2991,3608,1799
$GC,1839,0.79,146.6,81.4,9.1,187,1843,0.00,2.22,0.00,0.000,6,0.000,0.027,2998,2213,1799
$GC,2168,0.79,146.6,55.8,7.5,217,2172,0.00,2.33,0.00,0.000,4,0.000,0.045,2998,3612,1799
$GC,2266,0.79,146.6,47.5,8.0,225,2270,0.00,2.22,0.00,0.000,6,0.000,0.026,3007,2197,1799
$GC,2465,0.79,146.6,32.7,6.9,243,2466,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2196,1799
$GC,2656,0.81,163.0,20.5,5.5,261,2679,0.00,2.28,14.02,0.830,4,0.000,0.036,3012,808,1735
$GC,2726,0.85,196.4,16.9,5.1,272,2761,0.00,2.25,26.45,0.697,6,0.000,0.031,3012,2212,1598
$GC,2831,0.87,208.1,11.0,5.6,290,2849,0.00,2.35,10.15,0.726,4,0.000,0.036,3012,808,1550
$GC,2874,0.87,208.1,8.2,6.6,297,2881,0.00,2.28,0.00,0.000,6,0.000,0.031,3012,2209,1549
$GC,2950,0.87,208.1,3.2,6.4,310,2957,0.00,2.35,0.00,0.000,4,0.000,0.047,3012,3601,1550
$STATE,2967,end climb,SURFACE_DEPTH_REACHED
$STATE,2967,begin surface coast
$FINISH,1.7,1.025867
$STATE,2974,end surface coast,CONTROL_FINISHED_OK
$STATE,2974,begin surface
$SM_CCo,2998,94.57,0.659,0,0,769,400.08
$SM_GC,2.32,0.00,0.00,94.57,0.000,0.000,0.659,18,2341,769,-8.51,-0.25,400.08
$IRIDIUM_FIX,4751.72,-12211.95,011007,010101
$TT8_MAMPS,0.026078
$HUMID,1839
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,82.1,46.6
$24V_AH,24.4,57.071
$10V_AH,10.7,28.879
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,19.950,31.950,274.075,94.575,0.000,0.000,0.000,0.000,0.750,0.000,0.000,14.038,505.067,1422.667,432.048,675.576,135.246,33.349,792.346,0.000,688.346,0.000,6.925
$DEVICE_MAMPS,199.420,61.360,829.894,658.853,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,227.044,242.478,530.011,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16016,314
$CFSIZE,260165632,240152576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,224007,4807.425,-12223.260,7,1.3,24,18.3